Cleaning window area
62 actions30 skillsMCAP 5.9 GB
Real-world egocentric data recorded on the job: egocentric and wrist video, depth, IMU, hand pose and frame-level action labels in one MCAP per clip. Free to use with attribution.
120.4 h5,392 clips12 categories7.3 TBCC-BY-4.0
71 clips
62 actions30 skillsMCAP 5.9 GB
12 actions20 skillsMCAP 1.3 GB
119 actions36 skillsMCAP 17.4 GB
29 actions38 skillsMCAP 2.9 GB
15 actions14 skillsMCAP 2.2 GB
73 actions33 skillsMCAP 8.2 GB
58 actions24 skillsMCAP 7.1 GB
4 actions9 skillsMCAP 273 MB
109 actions40 skillsMCAP 13.9 GB
25 actions38 skillsMCAP 3.1 GB
7 actions13 skillsMCAP 1.1 GB
44 actions29 skillsMCAP 6.0 GB
100 actions33 skillsMCAP 10.9 GB
16 actions29 skillsMCAP 2.1 GB
11 actions8 skillsMCAP 1.1 GB
86 actions40 skillsMCAP 14.7 GB
15 actions24 skillsMCAP 1.8 GB
9 actions11 skillsMCAP 823 MB
56 actions24 skillsMCAP 9.6 GB
10 actions11 skillsMCAP 1.5 GB
8 actions10 skillsMCAP 1.1 GB
49 actions23 skillsMCAP 6.3 GB
9 actions16 skillsMCAP 637 MB
7 actions10 skillsMCAP 871 MB
| Topic | Schema | Rate |
|---|---|---|
| /action | tad_msgs/msg/ActionPhase | 30 Hz |
| /ego/zed_head/depth/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/depth/image/compressed | sensor_msgs/msg/CompressedImage | 30 Hz |
| /ego/zed_head/imu/data | sensor_msgs/msg/Imu | 199.8 Hz |
| /ego/zed_head/left/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/left/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /ego/zed_head/odom | nav_msgs/msg/Odometry | 30 Hz |
| /ego/zed_head/right/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /ego/zed_head/right/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /hands/left/detected | std_msgs/msg/Bool | 30 Hz |
| /hands/left/keypoints | visualization_msgs/msg/MarkerArray | 30 Hz |
| /hands/left/odom | nav_msgs/msg/Odometry | 30 Hz |
| /hands/right/detected | std_msgs/msg/Bool | 30 Hz |
| /hands/right/keypoints | visualization_msgs/msg/MarkerArray | 30 Hz |
| /hands/right/odom | nav_msgs/msg/Odometry | 30 Hz |
| /tf | tf2_msgs/msg/TFMessage | 30 Hz |
| /tf_static | tf2_msgs/msg/TFMessage | 2.9 Hz |
| /wrist_left/image/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /wrist_left/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /wrist_left/imu/data | sensor_msgs/msg/Imu | 199.4 Hz |
| /wrist_right/image/camera_info | sensor_msgs/msg/CameraInfo | 30 Hz |
| /wrist_right/image/compressed | foxglove.CompressedVideo | 30 Hz |
| /wrist_right/imu/data | sensor_msgs/msg/Imu | 200 Hz |
EgoViz-120 is 7.3 TB, served from a public Hugging Face Storage Bucket. Start with the index: one row per clip with category, title, skills, objects and paths, before you download any video.
pip install -U huggingface_hub
hf auth login
B=hf://buckets/humaidtech/EgoViz-120
hf buckets cp $B/index.parquet index.parquethf sync $B/data/cleaning_kitchen ./cleaning_kitchenhf sync $B/data ./egoviz --include "*.mp4" --include "*.json"@misc{egoviz120_2026,
title = {EgoViz-120: 120 Hours of Synchronized Real-World Egocentric Data},
author = {Humaid Tech Inc.},
year = {2026},
publisher = {Hugging Face},
howpublished = {\url{https://huggingface.co/datasets/humaidtech/EgoViz-120}}
}